﻿<?xml version="1.0" encoding="utf-8"?>
<LegoNxtBumperState xmlns:s="http://www.w3.org/2003/05/soap-envelope" xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" xmlns:d="http://schemas.microsoft.com/xw/2004/10/dssp.html" xmlns="http://schemas.microsoft.com/2006/06/lego.nxt.bumper.html">
  <BumperConfigList>
    <LegoNxtBumperConfig>
      <HardwareIdentifier>1</HardwareIdentifier>
      <Name>Touch Bumper 1</Name>
      <SensorType>Touch</SensorType>
      <ThresholdLow>1</ThresholdLow>
      <ThresholdHigh>1</ThresholdHigh>
    </LegoNxtBumperConfig>
    <LegoNxtBumperConfig>
      <HardwareIdentifier>2</HardwareIdentifier>
      <Name>Sonar Bumper 2</Name>
      <SensorType>Sonar</SensorType>
      <ThresholdLow>0</ThresholdLow>
      <ThresholdHigh>15</ThresholdHigh>
    </LegoNxtBumperConfig>
    <LegoNxtBumperConfig>
      <HardwareIdentifier>3</HardwareIdentifier>
      <Name>Sound Sensor 3</Name>
      <SensorType>Sonar</SensorType>
      <ThresholdLow>0</ThresholdLow>
      <ThresholdHigh>250</ThresholdHigh>
    </LegoNxtBumperConfig>
    <LegoNxtBumperConfig>
      <HardwareIdentifier>4</HardwareIdentifier>
      <Name>Sonar Bumper 4</Name>
      <SensorType>Sonar</SensorType>
      <ThresholdLow>0</ThresholdLow>
      <ThresholdHigh>15</ThresholdHigh>
    </LegoNxtBumperConfig>
  </BumperConfigList>
  <ContactSensorArrayState>
    <Sensors xmlns="http://schemas.microsoft.com/2006/06/contactsensor.html">
      <ContactSensor>
        <Name>Touch Bumper 1</Name>
        <HardwareIdentifier>1</HardwareIdentifier>
        <TimeStamp>0001-01-01T00:00:00</TimeStamp>
        <Pressed>false</Pressed>
        <Pose>
          <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
            <X>0</X>
            <Y>0</Y>
            <Z>0</Z>
          </Position>
          <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
            <X>0</X>
            <Y>0</Y>
            <Z>0</Z>
            <W>0</W>
          </Orientation>
        </Pose>
      </ContactSensor>
      <ContactSensor>
        <Name>Sonar Bumper 2</Name>
        <HardwareIdentifier>2</HardwareIdentifier>
        <TimeStamp>0001-01-01T00:00:00</TimeStamp>
        <Pressed>false</Pressed>
        <Pose>
          <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
            <X>0</X>
            <Y>0</Y>
            <Z>0</Z>
          </Position>
          <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
            <X>0</X>
            <Y>0</Y>
            <Z>0</Z>
            <W>0</W>
          </Orientation>
        </Pose>
      </ContactSensor>
      <ContactSensor>
        <Name>Sound Sensor 3</Name>
        <HardwareIdentifier>3</HardwareIdentifier>
        <TimeStamp>0001-01-01T00:00:00</TimeStamp>
        <Pressed>false</Pressed>
        <Pose>
          <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
            <X>0</X>
            <Y>0</Y>
            <Z>0</Z>
          </Position>
          <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
            <X>0</X>
            <Y>0</Y>
            <Z>0</Z>
            <W>0</W>
          </Orientation>
        </Pose>
      </ContactSensor>
      <ContactSensor>
        <Name>Sonar Bumper 4</Name>
        <HardwareIdentifier>4</HardwareIdentifier>
        <TimeStamp>0001-01-01T00:00:00</TimeStamp>
        <Pressed>false</Pressed>
        <Pose>
          <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
            <X>0</X>
            <Y>0</Y>
            <Z>0</Z>
          </Position>
          <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
            <X>0</X>
            <Y>0</Y>
            <Z>0</Z>
            <W>0</W>
          </Orientation>
        </Pose>
      </ContactSensor>
    </Sensors>
  </ContactSensorArrayState>
  <Status>Uninitialized</Status>
</LegoNxtBumperState>